CN112051527B - Clamping-detecting integrated device and matching method for micro magnetic steel - Google Patents
Clamping-detecting integrated device and matching method for micro magnetic steel Download PDFInfo
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- CN112051527B CN112051527B CN202010798845.5A CN202010798845A CN112051527B CN 112051527 B CN112051527 B CN 112051527B CN 202010798845 A CN202010798845 A CN 202010798845A CN 112051527 B CN112051527 B CN 112051527B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/12—Measuring magnetic properties of articles or specimens of solids or fluids
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B5/00—Clamps
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
- G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
- G01R33/06—Measuring direction or magnitude of magnetic fields or magnetic flux using galvano-magnetic devices
- G01R33/07—Hall effect devices
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Abstract
A clamping-detection integrated device and an optional method for micro magnetic steel belong to the field of precision manufacturing. The device comprises a micro magnetic steel clamping unit, a micro force detection unit and a magnetic strength measurement unit. The micro magnetic steel clamping unit is used for clamping micro magnetic steel and comprises a pair of magnetic steel clamps and a pneumatic clamping jaw, and a pneumatic clamping jaw body is connected with a pneumatic jaw connecting block of the micro force measuring unit; the magnetic steel clamp realizes five-surface positioning of the magnetic steel workpiece. The micro-force detection unit is used for detecting the stress of the micro magnetic steel clamping unit, so that the contact state of the micro magnetic steel clamping unit and a workpiece is judged, and accidental collision and excessive extrusion damage are prevented. The magnetic strength measuring unit is used for detecting the magnetic strength of the single magnetic steel and the air gap magnetic strength of the magnetic steel pair. The invention has the advantages of simple structure, convenient use, good measurement consistency, difficult probe damage, wide application range and the like.
Description
Technical Field
The invention belongs to the field of precision manufacturing, and relates to a clamping-detection integrated device and an optional method for micro magnetic steel.
Background
The magnetic steel pair formed by micro magnetic steel with the external dimension of millimeter-centimeter magnitude and a magnetic steel base provided with another magnetic steel is an important part of key precise elements such as a micro-accelerometer, a three-floating gyroscope, a jet pipe servo valve and the like, and has the functions of generating a magnetic field and applying Lorentz force to an electrified coil or a similar mechanism so as to generate the functions of deflection, translation, balance, suspension and the like.
The air gap magnetic field between the magnetic steel pairs is the dominant factor influencing Lorentz force, which not only depends on the external dimension and relative position of the tiny magnetic steel, but also is closely related to magnetizing parameters, material uniformity, storage conditions and the like. Therefore, before the magnetic steel pairs are fixed, whether the appearance size of the magnetic steel pairs is qualified or not needs to be detected, and whether the magnetic performance of the magnetic steel pairs meets the actual requirement or not needs to be detected.
At present, the magnetic steel matching performance is mainly checked in a manual mode, and the process can be simply described as follows: after the screened micro magnetic steel and the magnetic steel base are fixed, the magnetometer probe is placed in a millimeter-sized width air gap between the micro magnetic steel and the magnetic steel on the magnetic steel base, the magnetic induction intensity (magnetic strength for short) at the air gap is measured, and whether the pairing is qualified or not is judged according to the magnetic strength of the air gap. The magnetic induction intensity is highly sensitive to the tiny change of the measuring position, so that the manual measuring mode has the serious problems of poor repeatability and the matching precision depending on manual experience, and the flexible and efficient production requirement is difficult to meet. The development of a clamping-detecting integrated device and an optional method for micro magnetic steel is urgently needed.
An automatic System For magnetic Quality Measurement and a method thereof are provided in U.S. apple company with the patent number of US2017/0082699Al, an intermittent feeding of micro magnetic steel is realized by adopting a precise automatic turntable, and after the magnetic steel to be measured enters a Helmholtz coil, the influence of the magnetic steel to be measured on the magnetic flux is measured, so that whether the magnetic steel is qualified is judged. But constrained by the Helmholtz coil structure, the method can only measure the magnetic flux of the small magnetic steel with a simpler shape, and cannot carry out paired measurement on the magnetic steel and the magnetic steel base.
The universal patent with the patent number of CN106646227B discloses a magnetic steel detection device for a coreless motor, wherein a self-reset pressure head is in contact with magnetic steel in the motor during detection, a connected position sensor judges whether the press mounting height of the micro magnetic steel is qualified or not by identifying the relative position of the pressure head, and the device is not provided with an integrated magnetic strength sensor and only can detect the size of the magnetic steel and the relative position of assembly.
The invention patent 'magnetic steel detection special detection tool' with patent number CN104714197A of Zhang Zhou good et al provides a special detection tool capable of detecting the magnetic strength of special-shaped magnetic steel, Hall elements for measuring the magnetic strength are integrated in a plurality of positions in a magnetic steel clamp to ensure the reliability of measurement, and the detection tool is suitable for the measurement of magnetic steel workpieces with fixed sizes.
The micro magnetic steel clamping-detecting integrated device and the matching method provided by the invention can accurately match the micro magnetic steel and the magnetic steel base based on magnetic performance, have different mechanical structures, working principles and main functions from the micro magnetic steel clamping-detecting integrated device and the matching method, and have the advantages of flexibility, high efficiency, integration and the like.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a clamping-detecting integrated device and an optional method for micro magnetic steel.
The technical scheme adopted by the invention is as follows:
a clamping-detection integrated device for micro magnetic steel comprises a micro magnetic steel clamping unit, a micro force detection unit and a magnetic strength measurement unit.
The small magnetic steel clamping unit is used for clamping small magnetic steel and comprises a pair of magnetic steel clamps 1 and a pneumatic clamping jaw 2, and the magnetic steel clamps 1 are fixed on two sides of a clamping finger of the pneumatic clamping jaw 2 through bolts. The magnetic steel clamp 1 is composed of a pair of mirror symmetry parts, each part is of an irregular structure, and an upper positioning surface 1a, a side clamping surface 1b, a front contact surface 1c and a finger hook structure 1d are machined on a clamping part of the magnetic steel clamp 1. The side clamping surface 1b is of a T-shaped structure and is vertically arranged, the top of the side clamping surface is provided with an upper positioning surface 1a, and the upper positioning surface 1a is horizontally arranged; the bottom of the side clamping surface 1b extends downwards to form an L-shaped finger hook structure 1d, and the lower surface of the finger hook structure 1d is parallel to the upper positioning surface 1 a. The front contact surface 1c is a square surface, is parallel to the installation direction of the pneumatic clamping jaw 2, is arranged on the side surface of the side clamping surface 1b, and two adjacent sides of the front contact surface are respectively intersected with the upper positioning surface 1a and the side clamping surface 1b and are mutually vertical. When the magnetic steel is positioned, the upper positioning surface 1a is contacted with the upper surface 15a of the magnetic steel to be clamped, so that an interaction force is generated and transmitted to the micro-force measuring unit; in a clamping state, the magnetic steel workpiece is clamped under the pressure action of the side clamping surface 1b on the side surface 15b of the magnetic steel, the front contact surface 1c is in contact with the front surface 15d of the magnetic steel to ensure the size of an air gap between the magnetic steel pairs, and the lower surface of the finger hook structure 1d is in contact with the lower surface 15c of the magnetic steel to prevent the magnetic steel from falling off; the bottom positioning surface 1a, the side clamping surface 1b, the front contact surface 1c and the finger hook structure 1d act together to realize five-surface positioning of the magnetic steel workpiece 15, so that 6 spatial degrees of freedom of the micro magnetic steel workpiece 15 are limited, and the magnetic steel is prevented from falling off or deflecting due to the influence of magnetic force in the matching process. The pneumatic clamping jaw 2 body be connected with micro-force measuring unit's gas claw connecting block 3, when magnet steel clamp 1 received the effort of making progress, the atress can be passed through pneumatic clamping jaw 2 and gas claw connecting block 3 and is transmitted for micro-force measuring unit.
The micro-force detection unit is used for detecting the stress of the micro magnetic steel clamping unit, so that the contact state of the micro magnetic steel clamping unit and a workpiece is judged, and accidental collision and excessive extrusion damage are prevented. The device comprises an air claw connecting block 3, a limit baffle 4, a U-shaped lower spring piece 5, a U-shaped upper spring piece 6, a spring piece connecting block 7, a spring piece pressing piece 8, a micro-force sensor 9, a connecting plate 10 and a fixed bottom plate 11. The connecting plate 10 is an L-shaped component, the vertical side of the connecting plate is installed on the fixed bottom plate 11 through bolts, and the micro-force sensor 9 is installed below the parallel side. The spring piece connecting block 7 is fixed on the fixed bottom plate 11 through a bolt and is positioned below the micro-force sensor 9. The gas claw connecting block 3 is positioned below the micro-force sensor 9 and is arranged in parallel with the spring piece connecting block 7, and the end face 3a of the gas claw connecting block is in contact with the micro-force sensor 9. The two ends of the lower spring piece 5 and the upper spring piece 6 are provided with through holes, the two ends of the lower spring piece 5 are connected with the limiting baffle 4 through bolts and are arranged at the bottom ends of the pneumatic claw connecting blocks 3 and the spring piece connecting blocks 7 for limiting the downward displacement of the spring piece connecting blocks 7. Two ends of the upper spring piece 6 are connected with the spring piece pressing piece 8 through bolts and are arranged at the top ends of the gas claw connecting block 3 and the spring piece connecting block 7, and the upper spring piece 5 and the lower spring piece 6 are arranged in parallel. When the magnetic steel clamp 1 of the micro magnetic steel clamping unit is contacted with a workpiece and is stressed upwards, the stress can be transmitted to the air claw connecting block 3 through the pneumatic clamping jaw 2, the air claw connecting block 3 can drive the upper spring piece 5 and the lower spring piece 6 to bend upwards, the end face 3a of the air claw connecting block can compress the micro-force sensor 9, and the contact state with the surface of the workpiece is judged according to whether the micro-force measured value of the micro-force sensor 9 reaches a preset threshold value.
The magnetic strength measuring unit is used for detecting the magnetic strength of single magnetic steel and the air gap magnetic strength of the magnetic steel pair, and comprises a probe stop block 12, a Hall probe 13 and a probe sleeve 14. The probe sleeve 14 is a tubular structure which is penetrated up and down and has a step surface inside, and the probe sleeve 14 is arranged at a through hole at the end part of the connecting plate 10 parallel to the through hole and has the same axle center with the through hole; the Hall probe 13 is inserted into the probe sleeve 14 through the through hole of the connecting plate 10 and is centered and fixed by a set screw, and the Hall probe 13 passes through the probe sleeve 14 to enable a detection element of the Hall probe to be positioned between the magnetic steel clamps 1 and to be close to and parallel to the front contact surface 1c of the magnetic steel clamps; the probe stopper 12 is arranged on the upper end face of the parallel side of the connecting plate 10 and used for fixing the Hall probe 13; the position of the Hall probe 13 is adjusted by adjusting the set screw during matching, so that the Hall probe is parallel to the clamped magnetic steel front contact surface 15d, and the measurement is accurate and reliable.
A method for adopting the clamping-detection integrated device of the above-mentioned tiny magnetic steel to match the magnetic steel pair, the target work piece is the tiny magnetic steel work piece 15 placed in a certain place, the key structure has magnetic steel upper surface 15a, magnetic steel side surface 15b, magnetic steel lower surface 15c, magnetic steel front surface 15 d; the magnetic steel base workpiece 16 fixed at the other position mainly structurally comprises a magnetic steel base 16a, base magnetic steel 16b, a micro magnetic steel workpiece mounting position 16c and a magnetic steel base workpiece upper surface 16 d; the base magnetic steel 16b is fixed at one end of the magnetic steel base 16a, the mounting position 16c of the micro magnetic steel workpiece is at the other end opposite to the base magnetic steel 16b, and the upper surface 16d of the magnetic steel base workpiece is positioned at the upper end of the mounting position 16c of the micro magnetic steel workpiece. The task target is the matching between a plurality of groups of micro magnetic steel workpieces 15 and magnetic steel base workpieces 16. The method comprises the following steps:
firstly, positioning the micro magnetic steel and judging the polarity.
The assembled magnetic steel clamping-detecting integrated device is carried on a precise sliding table, the sliding table drives the magnetic steel clamping-detecting integrated device to gradually approach to a tiny magnetic steel workpiece 15 to be clamped downwards along the Z-axis, and meanwhile, signals of the micro-force sensor 9 are collected. After the upper positioning surface 1a of the magnetic steel clamp is contacted with the upper surface 15a of the magnetic steel, the interaction force of the magnetic steel 15 on the micro magnetic steel clamping unit enables the end surface 3a of the air claw connecting block of the micro force measuring unit to extrude the micro force sensor 9, when the micro force sensor 9 detects that the stress exceeds a threshold value, the reliable contact is judged, the motion is stopped, and the Hall probe 13 measures a magnetic intensity signal. Judging the magnetic field polarity of the magnetic steel 15 according to the positive and negative of the detected magnetic strength signal, if the polarity error indicates that the magnetic steel 15 has an error in direction, abandoning the magnetic steel 15 matching task, and matching the next magnetic steel 15 or resetting to standby; otherwise, the next step is continued.
And secondly, measuring and screening the micro magnetic steel.
The magnetic steel clamping-detecting integrated device returns a small distance along the Z-axis, is separated from the upper surface 15a of the magnetic steel and then moves backwards along the Y-axis, so that the Hall probe 13 is close to the magnetic steel 15, and the Hall probe 13 acquires a magnetic strength signal in the process. When the magnetic strength measured by the Hall probe 13 reaches an extreme value and does not change any more, the front contact surface 1c of the magnetic steel clamp is considered to be in contact with the front surface 15d of the magnetic steel, whether the magnetic steel is qualified or not is judged according to the magnetic strength value, if the magnetic steel is not qualified, the matching of the magnetic steel is abandoned, and the next magnetic steel 15 is selected or reset standby is started; if the magnetic steel clamping jaw is qualified, the magnetic steel clamping jaw moves backwards for a small distance forwards, is separated from the front surface 15d of the magnetic steel, and then closes the pneumatic clamping jaw 2 to enable the magnetic steel clamping jaw 1 to clamp the magnetic steel 15.
And thirdly, pairing the micro magnetic steel and the magnetic steel base.
Move the centre gripping-detect integrated device of centre gripping magnet steel 15 to wait to mate magnet steel base work piece 16 top and be close to down along the Z axle, after last locating surface 1a and magnet steel base work piece upper surface 16d contact of magnet steel clamp, the work piece makes the little force transducer 9 of the extrusion of air claw connecting block terminal surface 3a of little force measurement unit to the mutual acting force of magnet steel centre gripping unit, stop motion when little force transducer 9 detects the atress and reaches the threshold value, judge for reaching the measuring position or unexpected the hindrance, then judge according to the data of surveying of hall probe 13 that whether the air gap magnetic strength between magnet steel 15 and the base magnet steel 16b reaches the qualification standard: if the air gap magnetic strength reaches the qualified standard, the pneumatic clamping jaw 2 is opened, the magnetic steel clamp 1 loosens the magnetic steel 15, the micro magnetic steel workpiece 15 is attracted to the mounting position 16c of the magnetic steel base workpiece by magnetic force, the magnetic steel of the group completes matching, the magnetic steel clamping-detection integrated device resets, and the next group of matching work is carried out; and if the magnetic strength of the air gap magnetic field does not meet the qualified standard, positioning the magnetic steel clamping-detecting integrated device to the position above the next magnetic steel base workpiece 16 to start pairing.
The invention has the beneficial effects that: the clamping-detecting integrated device for the micro magnetic steel and the magnetic steel pair matching method consisting of the magnetic steel and the magnetic steel base have the advantages of good measurement consistency, difficulty in damaging a probe, wide application range and the like.
Drawings
FIG. 1 is a schematic view of a clamping-detecting integrated device for micro magnetic steel;
FIG. 2 is a schematic view of the magnetic steel clamp components of the apparatus of the present invention;
FIG. 3(a) is a schematic structural diagram of a micro magnetic steel workpiece; FIG. 3(b) is a schematic structural diagram of a magnetic steel base workpiece;
FIG. 4 is a schematic diagram of the positions of the workpieces when the micro magnetic steel and the magnetic steel base are matched;
fig. 5 is a flow chart of an automatic matching method of micro magnetic steel.
In the figure: 1, magnetic steel clamping; 1a, arranging a positioning surface; 1b side clamping surface; 1c a front contact face; 1d indicates a hook structure; 2, a pneumatic clamping jaw; 3, connecting blocks of the pneumatic claws; 3a, connecting the end face of the pneumatic claw connecting block; 4, limiting baffle plates; 5, a lower spring leaf; 6, arranging a spring piece; 7 spring leaf connecting blocks; 8, pressing a sheet by using a spring piece; 9 micro force sensors; 10 connecting plates; 11 fixing the bottom plate; 12 probe stop blocks; 13 a Hall probe; 14 a probe sleeve; 15 micro magnetic steel workpieces; 15a, the upper surface of the magnetic steel; 15b a magnetic steel side surface; 15c, the lower surface of the magnetic steel; 15d, the front surface of the magnetic steel; 16 magnetic steel base workpieces; 16a magnetic steel base; 16b base magnetic steel; 16c micro magnetic steel workpiece mounting position; 16d magnetic steel base workpiece upper surface.
Detailed Description
The following detailed description of the invention refers to the accompanying drawings and claims.
A clamping-detection integrated device for micro magnetic steel comprises a micro magnetic steel clamping unit, a micro force detection unit and a magnetic strength measurement unit;
the micro magnetic steel clamping unit is used for clamping micro magnetic steel and comprises a pair of magnetic steel clamps 1 and a pneumatic clamping jaw 2, the magnetic steel clamps 1 are fixed on two sides of a clamping finger of the pneumatic clamping jaw 2 through bolts, and the pneumatic clamping jaw 2 is connected with a pneumatic jaw connecting block 3; the magnetic steel clamp 1 is composed of a pair of mirror symmetry parts, each part is of an irregular structure, an upper positioning surface 1a, a side clamping surface 1b, a front contact surface 1c and a finger hook structure 1d are machined on a clamping part of the magnetic steel clamp 1, five-surface positioning of a magnetic steel workpiece 15 is realized under the combined action, and the magnetic steel is prevented from falling off or deflecting due to the influence of magnetic force in the matching process; the side clamping surface 1b is of a T-shaped structure and is vertically arranged, the top of the side clamping surface is provided with an upper positioning surface 1a, and the upper positioning surface 1a is horizontally arranged; an L-shaped finger hook structure 1d extends downwards from the bottom of the side clamping surface 1b, and the lower surface of the finger hook structure 1d is parallel to the upper positioning surface 1 a; the front contact surface 1c is a square surface, is parallel to the installation direction of the pneumatic clamping jaw 2, is arranged on the side surface of the side clamping surface 1b, and two adjacent sides of the front contact surface are respectively intersected with the upper positioning surface 1a and the side clamping surface 1b and are mutually vertical.
The micro-force detection unit is used for detecting the stress of the micro magnetic steel clamping unit and comprises a gas claw connecting block 3, a limit baffle 4, a U-shaped lower spring piece 5, a U-shaped upper spring piece 6, a spring piece connecting block 7, a spring piece pressing sheet 8, a micro-force sensor 9, a connecting plate 10 and a fixed bottom plate 11; the connecting plate 10 is an L-shaped component, the vertical side of the connecting plate is arranged on the fixed bottom plate 11, and the micro-force sensor 9 is arranged below the parallel side; the spring piece connecting block 7 is fixed on the fixed bottom plate 11 and is positioned below the micro-force sensor 9; the gas claw connecting block 3 is positioned below the micro-force sensor 9 and is arranged in parallel with the spring piece connecting block 7, and the end surface 3a of the gas claw connecting block is contacted with the micro-force sensor 9; through holes are formed in two ends of the lower spring piece 5 and the upper spring piece 6, two ends of the lower spring piece 5 are connected with the limiting baffle 4, and the lower spring piece 5 and the limiting baffle are installed at the bottom ends of the pneumatic claw connecting block 3 and the spring piece connecting block 7 and used for limiting downward displacement of the spring piece connecting block 7; the two ends of the upper spring piece 6 are connected with the spring piece pressing piece 8 and are arranged at the top ends of the gas claw connecting block 3 and the spring piece connecting block 7, and the upper spring piece 5 and the lower spring piece 6 are arranged in parallel; when the magnetic steel clamp 1 contacts with a workpiece and receives upward acting force, the acting force is transmitted to the air claw connecting block 3 through the pneumatic clamping jaw 2, the air claw connecting block 3 drives the upper spring piece 5 and the lower spring piece 6 to bend upwards, the end face 3a of the air claw connecting block compresses the micro-force sensor 9, and the micro-force sensor 9 measures a micro-force measured value.
The magnetic strength measuring unit is used for detecting the magnetic strength of single magnetic steel and the air gap magnetic strength of a magnetic steel pair, and comprises a probe stop block 12, a Hall probe 13 and a probe sleeve 14; the probe sleeve 14 is a tubular structure which is penetrated up and down and has a step surface inside, and the probe sleeve 14 is arranged at a through hole at the end part of the connecting plate 10 parallel to the through hole and has the same axle center with the through hole; the Hall probe 13 is inserted into the probe sleeve 14 through the through hole of the connecting plate 10 and is centered and fixed by a set screw, and the Hall probe 13 passes through the probe sleeve 14 to enable a detection element of the Hall probe to be positioned between the magnetic steel clamps 1 and to be close to and parallel to the front contact surface 1c of the magnetic steel clamps; the probe stopper 12 is arranged on the upper end face of the parallel side of the connecting plate 10 and used for fixing the Hall probe 13; the position of the Hall probe 13 is adjusted by adjusting the set screw, so that the Hall probe is parallel to the front contact surface 15d of the magnetic steel. Take the matching problem between the millimeter-scale micro magnetic steel workpiece 15 and the base magnetic steel 16b fixed in the magnetic steel base workpiece 16 as an example (hereinafter referred to as magnetic steel 15 and workpiece 16). The automatic matching method for the micro magnetic steel is realized by combining a magnetic steel clamping-detecting integrated device with a three-dimensional precise sliding table according to the following steps:
firstly, positioning the micro magnetic steel and judging the polarity.
The assembled magnetic steel clamping-detecting integrated device is carried on a precise sliding table, the sliding table drives the magnetic steel clamping-detecting integrated device to gradually approach to a tiny magnetic steel workpiece 15 to be clamped downwards along the Z-axis, and meanwhile, signals of the micro-force sensor 9 are collected. After the upper positioning surface 1a of the magnetic steel clamp is contacted with the upper surface 15a of the magnetic steel, the mutual acting force of the magnetic steel 15 on the micro magnetic steel clamping unit enables the end surface 3a of the air claw connecting block of the micro force measuring unit to extrude the micro force sensor 9, when the micro force sensor 9 detects that the stress exceeds a threshold value (about 0.2N), the reliable contact is judged, the motion is stopped, and the Hall probe 13 measures a magnetic intensity signal. Judging the magnetic field polarity of the magnetic steel 15 according to the positive and negative of the detected magnetic strength signal, if the polarity error indicates that the magnetic steel 15 has an error in direction, abandoning the magnetic steel 15 matching task, and matching the next magnetic steel 15 or resetting to standby; otherwise, the next step is continued.
And secondly, measuring and screening the micro magnetic steel.
The integrated magnetic steel clamping-detecting device retreats a small distance (about 15 micrometers) along the Z-axis, is separated from the upper surface 15a of the magnetic steel and then moves backwards along the Y-axis, so that the Hall probe 13 is close to the magnetic steel 15, and the Hall probe 13 acquires a magnetic strength signal in the process. When the magnetic strength measured by the Hall probe 13 reaches an extreme value and does not change any more, the front contact surface 1c of the magnetic steel clamp is considered to be in contact with the front surface 15d of the magnetic steel, whether the magnetic steel is qualified or not is judged according to the magnetic strength value, if the magnetic steel is not qualified, the matching of the magnetic steel is abandoned, and the next magnetic steel 15 is selected or reset standby is started; if the magnetic steel clamping jaw is qualified, the magnetic steel clamping jaw moves back forwards by a small distance (about 10 mu m), is separated from the front surface 15d of the magnetic steel, and then the pneumatic clamping jaw 2 is closed, so that the magnetic steel 15 is clamped by the magnetic steel clamping jaw 1.
And thirdly, pairing the micro magnetic steel and the magnetic steel base.
Move the centre gripping-detect integrated device of centre gripping magnet steel 15 to wait to mate magnet steel base work piece 16 top and be close to down along the Z axle, magnet steel clamp's last locating surface 1a and magnet steel base work piece upper surface 16d contact back, the work piece makes the air claw connecting block terminal surface 3a extrusion micro force sensor 9 of micro force measuring unit to the mutual acting force of magnet steel centre gripping unit, stop motion when micro force sensor 9 detects the atress and reaches threshold value (about 0.2N), judge for reaching measuring position or unexpected the hindrance, then judge according to the data that hall probe 13 surveyed whether the air gap magnetic strength between magnet steel 15 and the base magnet steel 16b reaches the qualification standard: if the air gap magnetic strength reaches the qualified standard, the pneumatic clamping jaw 2 is opened, the magnetic steel clamp 1 loosens the magnetic steel 15, the micro magnetic steel workpiece 15 is attracted to the mounting position 16c of the magnetic steel base workpiece by magnetic force, the magnetic steel of the group completes matching, the magnetic steel clamping-detection integrated device resets, and the next group of matching work is carried out; and if the magnetic strength of the air gap magnetic field does not meet the qualified standard, positioning the magnetic steel clamping-detecting integrated device to the position above the next magnetic steel base workpiece 16 to start pairing.
The above-mentioned embodiments only express the embodiments of the present invention, but not should be understood as the limitation of the scope of the invention patent, it should be noted that, for those skilled in the art, many variations and modifications can be made without departing from the concept of the present invention, and these all fall into the protection scope of the present invention.
Claims (1)
1. A method for matching a magnetic steel pair by adopting a clamping-detecting integrated device of micro magnetic steel is characterized in that the clamping-detecting integrated device comprises a micro magnetic steel clamping unit, a micro force detecting unit and a magnetic strength measuring unit;
the micro magnetic steel clamping unit is used for clamping micro magnetic steel and comprises a pair of magnetic steel clamps (1) and pneumatic clamping jaws (2), the magnetic steel clamps (1) are fixed on two sides of clamping fingers of the pneumatic clamping jaws (2) through bolts, and the pneumatic clamping jaws (2) are connected with a pneumatic claw connecting block (3); the magnetic steel clamp (1) is composed of a pair of mirror symmetry parts, each part is of an irregular structure, an upper positioning surface (1 (a), a side clamping surface (1 (b), a front contact surface (1 (c) and a finger hook structure (1 (d) are machined on a clamping part of the magnetic steel clamp (1), five-surface positioning of a magnetic steel workpiece (15) is realized under the combined action, and the magnetic steel is prevented from falling off or deflecting due to the influence of magnetic force in the matching process; the side clamping surface 1(b) is of a T-shaped structure and is vertically arranged, the top of the side clamping surface is provided with an upper positioning surface 1(a), and the upper positioning surface 1(a) is horizontally arranged; the bottom of the side clamping surface 1(b) extends downwards to form an L-shaped finger hook structure 1(d), and the lower surface of the finger hook structure 1(d) is parallel to the upper positioning surface 1 (a); the front contact surface 1(c) is a square surface, is parallel to the installation direction of the pneumatic clamping jaw (2), is arranged on the side surface of the side clamping surface 1(b), and two adjacent sides of the front contact surface are respectively intersected with the upper positioning surface 1(a) and the side clamping surface 1(b) and are mutually vertical;
the micro-force detection unit is used for detecting the stress of the micro magnetic steel clamping unit and comprises a gas claw connecting block (3), a limiting baffle (4), a U-shaped lower spring piece (5), a U-shaped upper spring piece (6), a spring piece connecting block (7), a spring piece pressing sheet (8), a micro-force sensor (9), a connecting plate (10) and a fixed bottom plate (11); the connecting plate (10) is an L-shaped component, the vertical side of the connecting plate is arranged on the fixed bottom plate (11), and the micro-force sensor (9) is arranged below the parallel side; the spring piece connecting block (7) is fixed on the fixed bottom plate (11) and is positioned below the micro-force sensor (9); the gas claw connecting block (3) is positioned below the micro-force sensor (9) and is arranged in parallel with the spring piece connecting block (7), and the end surface (3 a) of the gas claw connecting block is contacted with the micro-force sensor (9); through holes are formed in the two ends of the lower spring piece (5) and the upper spring piece (6), the two ends of the lower spring piece (5) are connected with the limiting baffle (4), and the lower spring piece is installed at the bottom ends of the gas claw connecting block (3) and the spring piece connecting block (7) and used for limiting the downward displacement of the spring piece connecting block (7); the two ends of the upper spring piece (6) are connected with the spring piece pressing piece (8) and are arranged at the top ends of the gas claw connecting block (3) and the spring piece connecting block (7), and the upper spring piece (5) and the lower spring piece (6) are arranged in parallel; when the magnetic steel clamp (1) is contacted with a workpiece and receives upward acting force, the acting force is transmitted to the air claw connecting block (3) through the pneumatic clamping jaw (2), the air claw connecting block (3) drives the upper spring piece (5) and the lower spring piece (6) to bend upwards, the end face (3 a) of the air claw connecting block compresses the micro-force sensor (9), and the micro-force sensor (9) measures a micro-force measured value;
the magnetic strength measuring unit comprises a probe stop block (12), a Hall probe (13) and a probe sleeve (14); the probe sleeve (14) is of a tubular structure which is penetrated up and down and is internally provided with a step surface, and the probe sleeve (14) is arranged at a through hole at the end part of the connecting plate (10) parallel to the through hole and is coaxial with the through hole; the Hall probe (13) is inserted into the probe sleeve (14) through the through hole of the connecting plate (10) and is centered and fixed by a set screw, and the Hall probe (13) passes through the probe sleeve (14) to enable a detection element of the Hall probe to be positioned between the magnetic steel clamps (1) and to be positioned close to and parallel to the front contact surface 1(c) of the magnetic steel clamps; the probe stop block (12) is arranged on the upper end surface of the parallel side of the connecting plate (10) and is used for fixing the Hall probe (13); the position of the Hall probe (13) is adjusted by adjusting a set screw, so that the Hall probe is parallel to a front contact surface 15(d) of the magnetic steel;
the method for matching the magnetic steel pair by adopting the clamping-detecting integrated device of the micro magnetic steel comprises the following steps:
firstly, positioning and judging the polarity of the micro magnetic steel;
the assembled magnetic steel clamping-detecting integrated device is carried on a precise sliding table, the sliding table drives the magnetic steel clamping-detecting integrated device to gradually approach to magnetic steel (15) to be clamped downwards along the Z-axis, and signals of a micro-force sensor (9) are collected simultaneously; after an upper positioning surface 1(a) of the magnetic steel clamp is contacted with an upper surface 15(a) of magnetic steel, the interaction force of a micro magnetic steel workpiece 15 on a micro magnetic steel clamping unit enables an end surface 3(a) of a gas claw connecting block of a micro force measuring unit to extrude a micro force sensor 9, when the micro force sensor 9 detects that the stress exceeds a threshold value, the reliable contact is judged, the motion is stopped, and a Hall probe 13 measures a magnetic intensity signal; judging the magnetic field polarity of the magnetic steel (15) according to the positive and negative of the detected magnetic strength signal, if the polarity error indicates that the magnetic steel (15) has an error in direction, abandoning the magnetic steel (15) matching task, and matching the next magnetic steel (15) or resetting to standby; otherwise, continuing the next step;
secondly, measuring and screening the micro magnetic steel;
the magnetic steel clamping-detecting integrated device returns upwards along the Z-axis, and moves backwards along the Y-axis after being separated from the upper surface 15(a) of the magnetic steel, so that the Hall probe (13) is close to the magnetic steel (15), and the Hall probe (13) acquires a magnetic strength signal in the process; when the magnetic strength that hall probe (13) surveyed reached the extreme value and no longer changed, then preceding contact surface 1(c) and magnet steel front surface 15(d) contact of magnet steel clamp, judge whether qualified according to the magnetic strength value this moment magnet steel: if not, abandoning the matching of the magnetic steel, and starting to match the next magnetic steel (15) or resetting to standby; if the magnetic steel is qualified, the magnetic steel returns forwards, and after the magnetic steel is separated from the front surface 15(d) of the magnetic steel, the pneumatic clamping jaw (2) is closed, so that the magnetic steel clamp (1) clamps the magnetic steel (15);
thirdly, pairing the micro magnetic steel and the magnetic steel base;
the integrated clamping-detecting device for clamping the magnetic steel (15) is moved to the position above a magnetic steel base workpiece (16) to be paired and is close to the magnetic steel base workpiece downwards along the Z-axis, after an upper positioning surface 1(a) of a magnetic steel clamp is contacted with an upper surface 16(d) of the magnetic steel base workpiece, the interaction force of the workpiece on a magnetic steel clamping unit enables an end surface 3(a) of a gas claw connecting block of a micro-force measuring unit to extrude a micro-force sensor (9), when the micro-force sensor (9) detects that the stress reaches a threshold value, the micro-force sensor stops moving, and the micro-force sensor judges that the micro-; then, whether the air gap magnetic strength between the magnetic steel (15) and the base magnetic steel (16 b) reaches the qualified standard or not is judged according to the data measured by the Hall probe (13): if the air gap magnetic strength reaches the qualified standard, the pneumatic clamping jaw (2) is opened, the magnetic steel clamp (1) loosens the magnetic steel (15), the tiny magnetic steel workpiece (15) is attracted to the mounting position 16(c) of the magnetic steel base workpiece by magnetic force, the magnetic steel of the group completes matching, the magnetic steel clamping-detecting integrated device resets, and next group matching work is carried out; and if the magnetic strength of the air gap magnetic field does not meet the qualified standard, positioning the magnetic steel clamping-detecting integrated device to the upper part of the next magnetic steel base workpiece (16) to start pairing.
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